Autonomous mobile robot self-localization based on environmental visual features

摘要

This paper presents a robust robot self-localization method where robot will identify its own position based on visual appearance features in the environment. Many research studies have been conducted on the navigation method for the autonomous mobile robot, and introduced precise and accurate robot self-localization methods. However, we believe that in some situation, it is not necessary for a robot to precisely and accurately identify and measure its own position. In our proposed method, the robot does not have to measure its own position precisely but depends only on the visual features which could be extracted from the environment. Experimental results demonstrate the effectiveness of our proposed method.